Table of Contents - TG Drives

122
CAPTURE, Capture exact time of external events
EXTENDED REGISTER GROUPS
Captured the Pg.ASpeed at the time of the event.
See “Compatibility issue”.
Capture.CamCurrLine 13 0..65535 R
Captured value of Gear.CamCurLine.at the time of th
event
Capture.CamScale 14 -2 31 ..2 31 -1 R
Captured value of Gear.CamScale.
Capture.CamPos 15 -2 31 ..2 31 -1 R
Captured value of Gear.CamPos. Un-interpolated.
Capture.CamSpeed 16 -32767 * FS .. 32767 * FS R
Captured value of Gear.CamSpeed.
Capture.PosErr 17 -2 31 ..2 31 -1 R
Captured value of Reg.PosErr, Indicate
how close we
follow PG.APos. When comparing the Capture.Pos
(RD.Pos) and the Capture.APos (PG.APos) the
Capture.PosErr indicate the position error at the time of
the event.
All verification uses Capture.FTime difference display, see
Capture.Mode, and constant speed
Verification of Capture.Pos interpolation.
Capture.
PosErr + Capture.
Pos − Capture.
APos
Capture.
FTime =
7
Capture.
Speed * 10
Verification of Capture.GPos interpolation
(When running gear box).
Capture.Pos = Capture.GPos + Capture.APos - Capture.PosErr
When the Gear group is used for CAM generation the
content of Capture.GPos is the offset into the cam table.
Capture.
GPos
Offset − Capture.
CamCurline
1024
Note. Capture.Gpos is interpolated.
Verification of Capture.CamPos.
Capture . PosErr + Capture.
Pos − Capture.
APos − Capture.
CAmPos = 0
Currently the Capture.CamPos is a raw value, the value
found at the servo cycle closest to the event.
Capture.Pin 18 0..1 R
This signal is not captured, it indicates the state of the
capture input source.
Capture.RD2Pos 19 0..1 R
Captured and interpolated value of RD2.Pos.
Capture.RD2RPos 20 -2 31 ..2 31 -1 R
Captured and interpolated value of
RD2.RPos.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001